As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving safety.In this ...As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving safety.In this paper,a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and structures.By separating neighboring information interaction from local dynamics control,the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer,which helps address the heterogeneity in vehicle parameters and structures.Within the proposed framework,an observer is designed for following vehicles to observe the leading vehicle's states using neighboring communication,while a tracking controller is designed to track the observed leading vehicle using local feedback control.Closed-loop stability in the absence and presence of communication time delay is analyzed,and the observer is further extended to a finite time convergent one to address string stability under general communication topology.Numerical simulation and field experiment verify the effectiveness of the proposed method.展开更多
Intelligent and connected vehicles(ICVs),as a critical future product of the automotive industry,have developed rapidly in recent years.The insertion of a cyber chain between vehicles can bring considerable benefits,i...Intelligent and connected vehicles(ICVs),as a critical future product of the automotive industry,have developed rapidly in recent years.The insertion of a cyber chain between vehicles can bring considerable benefits,including shared perception information,improved traffic efficiency,enhanced vehicle safety,optimized energy utilization,and reduced carbon emissions.展开更多
基金the National Key Research and Development Program of China(2021YFB2501803)the National Natural Science Foundation of China(52172384,52002126,52102394)+2 种基金Hunan Provincial Natural Science Foundation of China(2021JJ40065)the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body(61775006)the Fundamental Research Funds for the Central Universities。
文摘As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving safety.In this paper,a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and structures.By separating neighboring information interaction from local dynamics control,the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer,which helps address the heterogeneity in vehicle parameters and structures.Within the proposed framework,an observer is designed for following vehicles to observe the leading vehicle's states using neighboring communication,while a tracking controller is designed to track the observed leading vehicle using local feedback control.Closed-loop stability in the absence and presence of communication time delay is analyzed,and the observer is further extended to a finite time convergent one to address string stability under general communication topology.Numerical simulation and field experiment verify the effectiveness of the proposed method.
文摘Intelligent and connected vehicles(ICVs),as a critical future product of the automotive industry,have developed rapidly in recent years.The insertion of a cyber chain between vehicles can bring considerable benefits,including shared perception information,improved traffic efficiency,enhanced vehicle safety,optimized energy utilization,and reduced carbon emissions.
